Non-linear robust control for inverted-pendulum 2D walking

Abstract

We present an approach to high-level control for bipedal walking exemplified with a 2D point-mass inextensible-legs inverted-pendulum model. Balance control authority here is only from step position and trailing-leg push-off, both of which are bounded to reflect actuator limits. The controller is defined implicitly as the solution of an optimization problem… (More)
DOI: 10.1109/ICRA.2015.7139800

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